Infrastructureless indoor mapping using a mobile antenna array

In environments where optical sensors are not working or not sufficient, ultra-wideband (UWB) radar is an alternative technology for localization, mapping and object recognition. This paper presents an approach for indoor map building using an UWB radar and a simple mobile antenna array with one transmitter and two receivers. It requires no a priori knowledge of the surrounding and no additional infrastructure. A feature based approach with an underlying state space model is used. The data association problem is solved by grouping in the measurement space. Tests with simulated and measured data show that an accuracy up to 10cm can be achieved so far.